LiDAR external parameter calibration method and system, computer equipment and readable storage medium

A technology of external parameters and calibration methods, applied in complex mathematical operations, radio wave measurement systems, instruments, etc., can solve problems such as the increase of calibration parameter errors, reduce hardware costs, avoid additional parameter errors, and simplify the process.

Active Publication Date: 2020-10-02
GUANGZHOU AUTOMOBILE GROUP CO LTD
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Problems solved by technology

This method does not need to rely on other sensors such as cameras, but requires additional calibration tool assistance, and the measurement error on the vehicle data of the target position in the vehicle coordinate system will also make the final calibration parameter error larger

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  • LiDAR external parameter calibration method and system, computer equipment and readable storage medium
  • LiDAR external parameter calibration method and system, computer equipment and readable storage medium
  • LiDAR external parameter calibration method and system, computer equipment and readable storage medium

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Embodiment Construction

[0027] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings.

[0028] see figure 1 , figure 1 An embodiment of the LiDAR external parameter calibration method based on ROS2 of the present invention is shown, which includes:

[0029] S101, acquiring LiDAR original point cloud data;

[0030] Specifically, the step of obtaining LiDAR original point cloud data includes:

[0031] (1) Select a level road without obstacle interference;

[0032] (2) Keep the body of the target vehicle parallel to the curb;

[0033] (3) The LiDAR original point cloud data based on ROS2 is collected through the LiDAR installed on the target vehicle. Wherein, the ROS2 refers to the version 2.0 of ROS (Robot Operating System).

[0034] For example, a horizontal road with a length of 30 meters and a width of more than 10 meters can be selected, and ...

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Abstract

The invention discloses an ROS2-based LiDAR external parameter calibration method. The method comprises the steps of obtaining LiDAR original point cloud data; filtering the LiDAR original point clouddata to extract target point cloud data; constructing a virtual model in the ROS2; constructing a graphical user interface in ROS2 according to the LiDAR external parameters, the target point cloud data and the virtual model; and adjusting LiDAR external parameters in real time in the construction of the graphical user interface to obtain external calibration parameters. The invention further discloses a LiDAR external parameter calibration system based on ROS2, computer equipment and a computer readable storage medium. According to the method, the ideal external calibration parameters are determined by directly adjusting the external parameters of the LiDAR, so that additional parameter errors caused by data measurement in a vehicle coordinate system space or an image space are avoided,the calibration process and time are greatly shortened, and the hardware cost is reduced.

Description

technical field [0001] The present invention relates to the technical field of automatic driving, in particular to a ROS2-based LiDAR external parameter calibration method, a ROS2-based LiDAR external parameter calibration system, computer equipment, and a computer-readable storage medium. Background technique [0002] Research on autonomous driving technology has become increasingly active in recent years. In particular, the environmental perception technology based on LiDAR (Light Detection And Ranging, that is, laser detection and measurement, or lidar), has also received extensive attention from academia and industry. [0003] The function of LiDAR external parameter calibration is mainly to transform the target information coordinate system detected by the LiDAR sensor into a unified vehicle coordinate system; among them, the LiDAR external parameters include the coordinate system space rotation parameters (Yaw angle, Pitchangle, Roll angle) and the coordinate system S...

Claims

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Application Information

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IPC IPC(8): G01S7/497G06F9/451G06F17/16
CPCG01S7/497G06F17/16G06F9/451
Inventor刘前飞刘康张三林王振男张志德
OwnerGUANGZHOU AUTOMOBILE GROUP CO LTD